CANopenDeviceSIL2 (FB)¶

FUNCTION_BLOCK CANopenDeviceSIL2 EXTENDS CSB.CANopenSafetyBase

This function block implements a CANopen Safety Slave SIL2 I/O driver which is realized through a black channel approach. It sits on top of an unsafe CANopen Slave Stack. Communication between both stacks is realized over shared memory.

The function block can be enabled/disabled by S_xEnable. When S_xEnable gets TRUE the function block checks all conditions for safe communication each bus cycle:

Unsafe stack is in OPERATIONAL state
Configuration valid object (16#13FE) is set to 16#A5
Safety configuration signatures are correct
Consistency of SRDO configuration data

If a configuration error is detected (e.g. CRC mismatch) S_eError changes from NO_ERROR to the corresponding error code. If every condition is fulfilled the function block tries starting safe communication. Output S_xActive gets TRUE if all SRDOs are sent/received at least one time without any error. When communication error occurs (e.g. SCT/SRVT timeout, data mismatch, …), all SRDO communication is stopped: S_xActive = FALSE, S_eError <> NO_ERROR. Errors can be acknowledged by a rising edge of S_xErrorAck. Safe communication will be continued.

Note

Do not instantiate this function block. It will be instantiated implicitly.

InOut:

Scope	Name	Type	Initial	Comment
Input	`S_xEnable`	`BOOL`	TRUE	`TRUE`: SRDO communication enabled; `FALSE`: SRDO communication stopped
Input	`S_xErrorAck`	`BOOL`	FALSE	Pending error (`S_eError <> NO_ERROR`) can be acknowledged with rising edge.
Output	`S_xActive`	`BOOL`	FALSE	`TRUE`: safe communication active; `FALSE`: safe communication inactive (in case of error or `S_xEnable = FALSE`)
Output	`S_eError`	`CST.ERROR`	CST.ERROR.NO_ERROR	Error code of pending error or `NO_ERROR`.

Structure: